WO2018134498A1

WO2018134498A1 - Signalling device for the identification of an autonomous vehicle by a person who is waiting for it

Info

Publication number: WO2018134498A1
Application number: PCT/FR2018/050051
Authority: WO
Inventors: Jean Luc POGNON; Franck BREVET; Saran DIAKITE KABA; Sandrine Delenne; Virgile CHARTON
Original assignee: Psa Automobiles Sa
Priority date: 2017-01-19
Filing date: 2018-01-10
Publication date: 2018-07-26
Also published as: FR3061981A1; FR3061981B1; CN110214345A; EP3571679B1; US20200017022A1; CN110214345B; EP3571679A1

Abstract

A signalling device (DS) equips an autonomously-driving vehicle (VA) and comprising location means (ML) able to determine its ongoing position, lighting means (ME1-ME2) able to generate luminous signals and exterior warning means (MAE) able to generate sounds. This signalling device (DS) comprises processing means (MT) able, when the vehicle (VA) has to meet a person (PA) at a place (EC) having a known position, to trigger a predefined signalling of the vehicle (VA) by the lighting means (ME1-ME2) and/or the exterior warning means (MAE), as soon as the difference between the ongoing position of the vehicle (VA) and the known position of the place is less than a threshold.

Description

SIGNALING DEVICE FOR IDENTIFICATION

AUTONOMOUS VEHICLE BY A PERSON WHO IS EXPECTED

The invention relates to self-driving vehicles, possibly of automobile type, and more specifically the signaling of such vehicles for their identification.

As known to those skilled in the art, some vehicles, generally of the automotive type, include a device responsible for driving them without their driver acting on their steering wheel, hence their designation under the term "driving vehicle" autonomous "(or more simply autonomous vehicle).

Some of these self-driving vehicles are able to move without any passengers on board, from a first place where they park to a second place where a person who has requested their presence is located, for example by means of a phone call or the fact programming. Such a circulation may, for example, be intended to deliver a parcel to the applicant, or to pick up the applicant to transport it without driving to a third place chosen (taxi mode) or to make the vehicle available to the applicant at the second location for her to use it freely in manual or autonomous driving.

Where traffic is relatively large in the area containing the second location and the autonomous vehicle does not have a feature that makes it easy to differentiate it from others, it may be difficult for the applicant to locate it when , including when this vehicle belongs to him. Therefore, it may take a few moments between the moment when the vehicle reaches the second place and the moment when the applicant realizes that the vehicle is intended for him. However, if the vehicle waits for the person on a lane, it can prevent the traffic of vehicles that follow it and thus cause a traffic jam (or plug), or even induce an accident. It has been proposed to transmit the current position of the required vehicle to mobile communication equipment carried by the applicant, all the way to the second place. This allows this applicant to follow in real time the evolution of this current position on a map displayed on the screen of its mobile communication equipment. However, in dense traffic knowledge of the current position of the vehicle required on the map does not really facilitate its effective identification on its driving lane. In addition, this solution requires the applicant to observe almost continuously its screen, which makes it difficult to simultaneously observe the taxiway.

The purpose of the invention is in particular to improve the situation.

It proposes for this purpose a signaling device for equipping a self-driving vehicle and having localization means for determining its current position, lighting means adapted to generate light signals and / or means for external warning proper to generate sounds.

This signaling device is characterized by the fact that it comprises own processing means, when the vehicle must reach a person at a location having a known position, to trigger a predefined signaling of the vehicle by the lighting means and / or the external warning means, as soon as a difference between the current position of the vehicle and the known position of the place is less than a threshold.

Thanks to this signaling of the autonomous (driving) vehicle when it comes close to the person who requested it, this person can more easily identify it, and therefore the duration during which it is parked can be significantly reduced.

The signaling device according to the invention may comprise other characteristics that can be taken separately or in combination, and in particular:

the threshold may, for example, be between 2 meters and 50 meters;

in a first embodiment, when the vehicle also comprises communication means adapted to communicate by wavelength with remote communication equipment and acquisition means adapted to acquire data representative of the environment located at least in front of it, the processing means can be clean, when the vehicle is moving towards the location of known position, to generate from the data acquired images that are representative of at least this environment, and to trigger the transmission of these generated images to a communication equipment belonging to the person for display on a screen of this equipment Communication ;

the processing means may be suitable for adding to the images a representation of at least part of the vehicle;

in a second embodiment, when the vehicle also comprises communication means able to communicate by waves with remote communication equipment, the processing means can be clean, when the vehicle is moving towards the location of known position, to trigger the transmission of the current position of the vehicle to a communication equipment belonging to the person for the display on a screen of this communication equipment an image of an area containing this location and a materialization of the current position transmitted;

the processing means may be able to determine a time of arrival at the known position of the place, and to trigger the transmission of this time to the communication equipment belonging to the person for display on the screen of this communication equipment;

the processing means may be capable of triggering a predefined light signaling of the vehicle by the lighting means chosen from at least one sequence of a predefined number of headlight calls, a hazard warning operation, a setting of in operation of turn signals on a side of the vehicle located opposite the place, a continuous operation of interior lighting, and a discontinuous operation of interior lighting;

the processing means may be suitable for triggering a predefined sound signaling of the vehicle by the warning means selected from at least one sequence of a predefined number of horn strokes, a predefined melody, and a predefined identifier.

The invention also proposes a self-driving vehicle, possibly of automotive type, and comprising locating means capable of determining its current position and lighting means capable of generating light signals and / or external warning means. able to generate sounds, and a signaling device of the type of that presented above.

Other features and advantages of the invention will appear on examining the detailed description below, and the accompanying drawing, in which the single figure schematically and functionally illustrates two traffic lanes on which vehicles traveling on which one of them has been required by a person and includes an exemplary embodiment of a signaling device according to the invention.

The object of the invention is notably to propose a DS signaling device intended to equip a self-driving VA vehicle in order to facilitate its identification by a PA person who has requested it.

Here, the term "autonomous driving vehicle" is understood to mean a vehicle comprising a DC control device responsible for driving it without a passenger acting on the steering wheel, and possibly being able to be deactivated (at least partially) in order to allow a driver to driver to drive during a manual driving phase.

In the following, we consider, by way of non-limiting example, that the autonomous vehicle VA is automotive type. This is for example a car. But the invention is not limited to this type of vehicle. It concerns in fact any type of self-driving vehicle, and therefore not only land vehicles, but also maritime (or fluvial) vehicles, such as river taxis, and aircraft.

Diagrammatically and functionally represented in the single figure a road comprising two traffic lanes VC1 and VC2 on which three vehicles V1, V2 and VA circulate. For example, this road is a two-way street in a city.

On the first traffic lane VC1 a vehicle circulates autonomous VA, equipped with a DS signaling device according to the invention, and a vehicle V1 (which could possibly be self-driving and include a DS signaling device).

On the second traffic lane VC2, here having a traffic direction opposite to that of the first traffic lane VC1, a vehicle V2 (which could possibly be self-driving and comprise a signaling device DS), circulates.

It is important to note that for the invention to be implemented, it is necessary, as illustrated, that the autonomous vehicle VA comprises at least locating means ML adapted to determine its current position pv, and means of MEj lighting capable of generating light signals and / or outside warning means MAE capable of generating sounds outside the passenger compartment H.

For example, the location means ML may be part of a navigation aid device.

The MEj lighting means can provide external or internal lighting. Here, the expression "illumination means providing external illumination" is intended to mean a front optical unit providing at least one photometric signaling function, for example a high beam function, or a low beam function, or a fire function. fog light, or a position light function (or night light or lantern), or a daylight function (or DRL (for "Daytime running Light (Gold Lamp)" - light signaling automatically when the vehicle is put into operation during the day)), or a function of indication of change of direction (or flashing) and hazard (or "warning"). Furthermore, here means "lighting means providing internal lighting" a light device providing illumination inside the passenger compartment H of the autonomous vehicle VA. In the embodiment shown in a nonlimiting example in the single figure, the autonomous vehicle VA comprises not only first illumination means ME1 (j = 1) providing external illumination, but also second illumination means ME2 (FIG. = 2) providing internal lighting of its cabin H.

The external warning means MAE can, for example, constitute a horn. But in a variant they could include a sound synthesizer to generate simple or complex sounds, possibly defining melodies or words or phrases or alphanumeric identifiers.

As illustrated in FIG. 1, a signaling device DS comprises at least processing (or calculation) means MT.

It will be noted that in the exemplary embodiment illustrated in non-limiting manner in FIG. 1, the signaling device DS is part of a computer C1, possibly providing at least one other function within the autonomous vehicle VA, and preferably connected to the network. communication of the autonomous vehicle VA (possibly of multiplexed type and allowing the exchange of information between on-board electronic equipment). But this is not obligatory. Indeed, the DS signaling device could be an electronic equipment comprising a computer and connected to the possible communication network of the autonomous vehicle VA. Therefore, the DS signaling device can be realized in the form of software modules (or "software") or a combination of circuits or electronic components (or "hardware") and software modules.

The DS signaling device intervenes whenever its autonomous vehicle VA has to join a PA person in a place EC having a known position pc. It should be noted that the signaling device DS can be informed of the known position PC where its autonomous vehicle VA must go either because the latter has received a request from a communication equipment used by the person PA or from a service server previously called by the PA person, either because of a programming previously performed by the PA person or by a third party, for example.

It is important to note that the autonomous vehicle VA can, for example, belong to the person PA or to one of his relatives, or belong to a service company (taxi or rental of vehicles or delivery of parcels). The autonomous vehicle VA may possibly carry several people, possibly as part of a shared service (type carpooling). Therefore, the VA self-driving vehicle may be required at the EC location to pick up at least the applicant PA person to transport it without driving to a third location, or to the willingness of the applicant PA person to use it freely in manual or self-driving, or to deliver a package to the applicant PA.

The processing means MT are clean, when the autonomous vehicle VA must join a person PA at a place EC having a known position pc, to trigger a predefined signaling of the autonomous vehicle VA by the lighting means MEj and / or the means of external warning MAE, as soon as a difference dp between the current position pv of the autonomous vehicle VA and the known position pc of the place EC is less than a threshold sp. We thus have the relation dp = pc - pv.

The use of the last expression "and / or" here means that as soon as dp is lower than sp the processing means MT trigger either a predefined light signaling of the autonomous vehicle VA by the lighting means MEj (ME1 and / or ME2 ), either a predefined sound signaling of the autonomous vehicle VA by the external warning means MAE, or else both a predefined light signaling of the autonomous vehicle VA by the lighting means MEj (ME1 and / or ME2) and a signaling predefined sound of the autonomous vehicle VA by external warning means MAE (which provides redundancy for identification). The alternative that is used depends on the configuration of the DS signaling device. It can be unique (and thus predefined) or chosen from at least two of the three alternatives mentioned above, for example depending on the environmental context of the place EC. It will be understood that the use of high beam or horn (or more generally sound) can be regulated in certain areas, such as in the city or near health care facilities (hospitals or clinics). Similarly, the use of certain lighting means MEj (and in particular at least some of the functions of the front optical blocks) may prove to be inefficient in terms of differentiation (or identification) when the traffic is dense.

Moreover, here "predefined signaling" means signaling that has been previously reported to, or chosen by, the PA person (although it may be modified depending on the environmental context, provided that the PA passenger is informed via mobile communication equipment that he / she is carrying (as example a smartphone (or "smartphone") or an electronic tablet), and more generally any connected object with a screen.

Thanks to the luminous and / or audible signaling of the autonomous vehicle VA when it arrives close to the person PA who has requested it (dp <sp), this person PA can more easily identify the autonomous vehicle VA required when he recognize. Therefore, the period during which the autonomous vehicle VA is parked at the location EC can be significantly reduced, which reduces the probability of formation of a traffic jam (or stopper) and the occurrence of an accident.

For example, the threshold sp can be between 2 meters and 50 meters. In this case, the threshold sp may, for example, be equal to 30 meters. Note that the threshold sp can be predefined (and therefore fixed) or variable depending on the environmental context of the place EC (and therefore chosen by the processing means MT). In addition, the threshold sp could be between values other than those mentioned above (2 m and 50 m).

It will also be noted that many light signals can be used. Thus, a light signal may consist of at least one sequence of a predefined number of ME1 headlamp calls (for example equal to three or four, possibly of different durations), or an operation of hazard lights ME1, or an operation of turn signals ME1 on the side of the autonomous vehicle VA which is located next to the place EC, or a continuous operation of interior lights ME2, or a discontinuous operation of interior lights ME2. The light signaling used depends on the configuration of the DS signaling device. It can be unique (and thus predefined) or selected from at least two possibilities, for example depending on the environmental context of the place EC.

It is important to note that instead of using optical blocks before ME1 to achieve the predefined light signaling, one could use rear light units when the autonomous vehicle VA is forced to stop after the place EC because there is no place at the latter (EC).

In the example shown non-limitatively in the single figure, the processing means MT trigger lightning calls by the first lighting means ME1 as soon as dp is less than sp.

It should also be noted that many sound signals can be used. Thus, a sound signal can consist of at least a sequence of a predefined number of horn strokes (for example two or three, possibly of different durations), or a predefined melody, or a predefined identifier (possibly that which is displayed on the registration plate of the autonomous vehicle VA or any other part of it (taxi or rental or delivery driver identifier)). The sound signaling used depends on the configuration of the DS signaling device. It can be unique (and thus predefined) or selected from at least two possibilities, for example depending on the environmental context of the place EC.

It should also be noted that several options may be offered to the AP person when the autonomous vehicle VA comprises complementary technical means.

Thus, the autonomous vehicle VA may, for example, also comprise communication means MC capable of communicating by waves with remote communication equipment, and acquisition means MAY adapted to acquire data which are representative of the environment at least in front of him. In this case, the processing means MT may, for example, be clean, when the autonomous vehicle VA goes to the location EC of known position pc, to generate from these acquired data images which are representative at least of this environment. The processing means MT can then trigger the transmission of these generated images to a communication equipment belonging to the person PA for display on a screen of this communication equipment. So, when the PA passenger knows the environment of the EC place where he is waiting, he can easily recognize on the screen of its communication equipment the location where the autonomous vehicle VA is located at the moment considered, which further facilitates its identification by its predefined signaling.

The communication means MC can exchange messages over the airwaves with communication equipment either directly, for example and without limitation using the wireless Bluetooth or WiFi communication standard or WIMAX or 5G, or indirectly via a network of communication devices. non-wired communication, for example terrestrial (possibly 3G or 4G) and / or satellite.

The communication equipment is preferably mobile and transported by the PA passenger. As indicated above, it may, for example, be a smartphone (or smartphone) or a tablet.

The acquisition means MAI are responsible for analyzing at least part of the environment of the autonomous vehicle VA located in front of the latter (VA). For this purpose, they may, for example, include ultrasonic sensors and / or at least one camera and / or at least one scanning laser and / or at least one radar or lidar. It will be understood that the data acquired can define real images of the environment, or be used to constitute computer-generated images or environmental maps.

For example, the processing means MT may also be suitable for adding to the images, transmitted to the passenger PA communication equipment, a representation of at least a portion of the autonomous vehicle VA. This further facilitates the identification of the latter (VA) by its predefined signaling.

When the autonomous vehicle VA has only means of communication MC, the processing means MT can be clean, when (VA) goes to the place EC of known position pc, to trigger the transmission of the current position pv of the autonomous vehicle VA to the communication equipment belonging to the person PA for the display on the screen of this communication equipment of an image of an area which contains the location EC and a materialization of the position in pv course transmitted. The image of this zone can, for example, be a map or a map (possibly of city) or a satellite photograph. Thus, the PA passenger can easily follow on the screen of his communication equipment the evolution of the pv position of the autonomous vehicle VA, which facilitates its identification by its predefined signaling.

It will also be noted that the processing means MT may also be suitable for determining an arrival time at the known position pc of the location EC, and for triggering the transmission of this schedule to the communication equipment belonging to the person. PA for display on the display of this communication equipment. For example, the processing means MT may determine this arrival time with the possible navigation aid device of the autonomous vehicle VA.

It will also be noted that the processing means MT may be able to trigger internal lighting and / or conditioning

15 thermal of the passenger compartment H of the autonomous vehicle VA a little before reaching the known position pc of the place EC, to accommodate the person PA in optimal conditions.

Claims

1. Signaling device (DS) for a vehicle (VA) with autonomous driving and comprising locating means (ML) for determining its current position, lighting means (MEj) capable of generating light signals and / or external warning means (MAE) capable of generating sounds, said device comprising own processing means (MT), when said vehicle (VA) is to reach a person at a place having a known position, to trigger a predefined signaling of said vehicle (VA) by said lighting means (MEj) and / or said external warning means (MAE), as soon as a difference between said current position of the vehicle (VA) and said known position of the place is less than a threshold, characterized in that in the presence of a vehicle (VA) also comprising communication means (MC) adapted to communicate by waves with remote communication equipment, and means ns acquisition (MAI) able to acquire data representative of the environment located at least in front of him, said processing means (MT) are clean, when said vehicle (VA) is moving to said known position of position, to generate from said acquired data representative images of at least said environment, and to trigger the transmission of said generated images to a communication equipment belonging to said person for display on a screen of this communication equipment.

2. Signaling device (DS) for a vehicle (VA) with autonomous driving and comprising locating means (ML) for determining its current position, lighting means (MEj) capable of generating light signals and / or external warning means (MAE) capable of generating sounds, said device comprising own processing means (MT), when said vehicle (VA) has to join a person at a place having a known position, to trigger a signaling of said vehicle (VA) by said lighting means (MEj) and / or said external warning means (MAE), as soon as a difference between said current position of the vehicle (VA) and said position known from the place is less than a threshold, characterized in that in the presence of a vehicle (VA) also comprising communication means (MC) adapted to communicate by waves with remote communication equipment, said processing means (MT) are clean, when said vehicle (VA) is moving towards said position of known position, to trigger the transmission of said current position of the vehicle (VA) to a communication equipment belonging to said person in order to displaying on a screen of this communication equipment an image of an area containing said location and a materialization of said current position transmitted.

3. Device according to one of claims 1 or 2, characterized in that said processing means (MT) are adapted to add to said images a representation of at least a portion of said vehicle (VA).

4. Device according to one of claims 1 to 3, characterized in that said processing means (MT) are adapted to determine a time of arrival at said known position of the place, and to trigger the transmission of said schedule audit communication equipment belonging to said person for display on said screen of this communication equipment.

5. Device according to one of claims 1 to 4, characterized in that said processing means (MT) are adapted to trigger a predefined light signaling said vehicle (VA) by said lighting means (MEj) selected in a group comprising at least a sequence of a predefined number of headlight calls, a hazard warning operation, a flashing operation on one side of said vehicle (VA) situated opposite said location, a continuous operation interior lighting, and discontinuous operation of interior lighting.

6. Device according to one of claims 1 to 5, characterized in that said processing means (MT) are adapted to trigger a predefined sound signaling of said vehicle (VA) by said external warning means (MAE) selected in a group comprising at least one sequence of a predefined number of horn strokes, a melody predefined, and a predefined identifier.

7. Device according to one of the preceding claims, characterized in that said threshold is between 2 meters and 50 meters.

8. Vehicle (VA) with autonomous driving and comprising locating means (ML) capable of determining its current position, and lighting means (MEj) capable of generating light signals and / or warning means external devices (MAE) capable of generating sounds, characterized in that it further comprises a signaling device (DS) according to one of the preceding claims.

9. Vehicle according to claim 8, characterized in that it is automotive type.